U.S. patent number 4,709,265 [Application Number 06/787,338] was granted by the patent office on 1987-11-24 for remote control mobile surveillance system.
This patent grant is currently assigned to Advanced Resource Development Corporation. Invention is credited to Robert B. Croston, Eugene B. Silverman, Richard K. Simmons.
United States Patent |
4,709,265 |
Silverman , et al. |
November 24, 1987 |
Remote control mobile surveillance system
Abstract
A surveillance system for hazardous environments and the like
having a radio remote controlled vehicle that is sized and shaped
for optimum maneuverability and stability, including mobility on
stairs and inclined surfaces. The vehicle is designed to have a low
center of gravity that is shiftable up and down, front to rear and
side to side under operator control in order to provide stability.
The top deck of the vehicle is uniquely shaped and is adapted to
support any of several payloads, including an articulated arm
module that is moveable in a pan and tilt direction and a smear
sampler mechanism for repeatedly taking surface samples. The
vehicle is moved by independently operated, motor driven tracks
located on each of the two longitudinal sides of the vehicle and is
adapted to move in a forward, reverse and rotational directions.
Remote monitoring is provided by stereoptic TV cameras, stereo
sound, and variety of environmental sensors.
Inventors: |
Silverman; Eugene B. (Ellicott
City, MD), Simmons; Richard K. (Columbia, MD), Croston;
Robert B. (Columbia, MD) |
Assignee: |
Advanced Resource Development
Corporation (Columbia, MD)
|
Family
ID: |
25141154 |
Appl.
No.: |
06/787,338 |
Filed: |
October 15, 1985 |
Current U.S.
Class: |
348/158;
348/211.2; 348/36; 73/863; 73/864.71; 901/1 |
Current CPC
Class: |
B62D
1/28 (20130101); B62D 55/075 (20130101); F41H
7/03 (20130101); F41H 7/02 (20130101); G01N
2001/028 (20130101); G01N 2001/022 (20130101) |
Current International
Class: |
B62D
55/00 (20060101); B62D 55/075 (20060101); B62D
1/00 (20060101); B62D 1/28 (20060101); H04N
007/10 (); H04N 013/00 (); H04N 005/30 () |
Field of
Search: |
;358/87,88,100,108,210,229 ;89/41.05,41.01,41.09 ;340/723,724,725
;355/47 ;364/522 ;354/94,95 ;73/863,863.33,864,864.71 ;901/1,14,44
;414/729 |
References Cited
[Referenced By]
U.S. Patent Documents
|
|
|
3430496 |
March 1969 |
Swanberg et al. |
4483407 |
November 1984 |
Iwamoto et al. |
4549208 |
October 1985 |
Kamejima et al. |
|
Other References
E B. Silverman, "Robotic Technology Experiments for Nuclear Power
Plant Inspection and Maintenance" (1982), pp. 109-112 ANS Reprint.
.
Gupton, "Nuclear Power Plant Emergency Damage Control Robot",
Robotic Age, pp. 18-21 (Mar./Apr. 1983). .
Kohler, "Ferngelenktes Manipulator--Fahrzeug MF3", VDI-Z 120 No. 22
(Nov. 1978)..
|
Primary Examiner: Britton; Howard W.
Assistant Examiner: Peng; John K.
Attorney, Agent or Firm: Sughrue, Mion, Zinn, Macpeak and
Seas
Claims
I claim:
1. A remote control mobile surveillance system comprising:
an operator control center, said center comprising manual command
operation and transmission means, telemetry receive and reporting
means and antenna means;
a surveillance vehicle located remote from said control center and
in wireless communication therewith, said vehicle comprising:
chassis means, said chassis means being sized and shaped to fit
within standard doorways and stairways and to provide an optimally
low center of gravity for said vehicle;
propulsion means adapted to provide movement to said vehicle and
being mounted on said chassis means and comprising at least two
independently controllable motor and track means;
cover means removably mounted on said chassis means and adapted to
support a plurality of payloads;
payload means adapted to be movable in at least one direction and
to have mounted thereon an operative load means, said payload means
being removably mounted on said cover means;
telecommunications means adapted to receive commands from and
transmit telemetry to said operator control center, said means
being operatively connected to said propulsion means and said
payload means, whereby an operator at said operator control center
can remotely control and monitor the movement of said vehicle and
the operation of said payload means;
said cover means being substantially rectangular in shape, having a
vehicle front, a vehicle rear and two longitudinal side edges, a
centrally located planar portion on which is mounted said payload
means and a front planar apron portion extending from said payload
at an angle downward to said vehicle front edge; and
said payload means being adapted to move said operative load
forward and below said centrally located planar position, along
said planar apron position of said cover means, whereby the center
of gravity of said vehicle may be moved lower and forward
dynamically during movement of said vehicle up an inclined surface
under remote control from said operator control center.
2. The remote control surveillance system claimed in claim 1
wherein said chassis means is an open top container having a
substantially rectangular bottom portion, parallel side portions
oriented orthogonal to said bottom portion and front and rear bow
portions angled upward from said bottom portion at an angle within
the range of 120.degree.-140.degree., whereby said vehicle is
better adapted to ascend and descend conventional stairways and to
climb over barriers.
3. The remote control surveillance system claimed in claim 1
wherein said payload comprises an articulated arm means adapted to
be movable in a pan and tilt direction.
4. The remote control surveillance system claimed in claim 3
wherein said articulated arm means has affixed thereto an operative
load means which is adapted to take repetitive smear samples from
surfaces within the range of motion of said arm means.
5. The remote control surveillance system claimed in claim 1
wherein said chassis includes a stereoptic viewing means, including
two television cameras positioned to overlappingly view the forward
direction of travel of said vehicle, said stereoptic viewing means
being connected to said telecommunications means for transmission
to said telemetry receive and reporting means whereby a three
dimensional image of the vehicle foreground is provided to the
operator.
6. A remote control surveillance vehicle responsive to an operator
control center comprising:
chassis means, said chassis means being sized and shaped to fit
within standard doorways and stairways and to provide an optimally
low center of gravity for said vehicle;
propulsion means adapted to provide movement to said vehicle and
being mounted on said chassis means and comprising at least two
independently controllable motor and track means;
cover means removably mounted on said chassis means and adapted to
support a plurality of payloads;
payload means adapted to be movable in at least one direction and
to have mounted thereon an operative load means, said payload means
being removably mounted on said cover means;
telecommunications means adapted to receive commands from said
operator control center and transmit telemetry to said operator
control center, said means being operatively connected to said
propulsion means and said payload means;
said cover means being substantially rectangular in shape, having a
vehicle front, a vehicle rear and two longitudinal side edges, a
centrally located planar portion on which is mounted said payload
means and a front planar apron portion extending from said payload
at an angle downward to said vehicle front edge; and
wherein said payload means is adapted to move said operative load
forward and below said centrally located planar position, along
said planar apron position of said cover means, whereby the center
of gravity of said vehicle may be moved lower and forward
dynamically during movement of said vehicle up an inclined surface
under remote control from said operator control center.
7. A remote control surveillance vehicle as claimed in claim 6
wherein said cover means further includes side planar apron
portions extending along substantially the entire length of each
longitudinal side edge and extending on each side from said
centrally located planar position down to said longitudinal side
edge;
wherein said payload means is adapted to move said operative load
to the side of said vehicle and below said centrally located planar
portion, whereby the center of gravity of said vehicle may be moved
lower and to the side dynamically during movement of said vehicle
in a traverse along an inclined surface.
8. A remote control surveillance vehicle as claimed in claim 6,
wherein said chassis means is an open top container having a
substantially rectangular bottom portion, parallel side portions
oriented orthogonal to said bottom portion and front and rear bow
portions angled upward from said bottom portion at an angle within
the range of 120.degree.-140.degree., whereby said vehicle is
better adapted to ascend and descend conventional stairways and to
climb over barriers.
9. A remote control surveillance vehicle as claimed in claim 8
wherein said chassis includes in said front bow portion a window
means and is adapted to have mounted thereon in forward viewing
relationships through said window a stereoptic viewing means
comprising two television cameras positioned to overlappingly view
the forward direction of travel of said vehicle and being connected
to said telecommunications means for transmission of the television
signals generated by said cameras.
10. A remote control surveillance vehicle as claimed in claim 8
wherein each of said motor and track means comprises a drive wheel
rotatably mounted at the top of one of said parallel side portions
of said chassis means;
a plurality of support wheels rotatably mounted along the bottom of
one of said parallel side portion of said chassis means;
tensioner wheel means, said tensioner means comprising a rotatable
idler wheel and an adjustable tension means mounted at the top of
one of said parallel side portions of said chassis means, being
springloaded and being adapted for manual adjustment of the spring
tension; and
a belt-like track, adapted to be wrapped around said drive wheel,
said support wheels and said idler wheels and to be rotated by said
drive wheel while being kept in tension by said tension wheel
means.
11. A remote control surveillance vehicle as claimed in claim 10
wherein said belt-like track has tread means spaced apart and sized
to enable stair and obstacle climbing while avoiding being wedged
in standard industrial grated surfaces.
12. A remote control surveillance vehicle responsive to an operator
control center comprising:
chassis means, said chassis means being sized and shaped to fit
within standard doorways and stairways and to provide an optimally
low center of gravity for said vehicle;
propulsion means adapted to provide movement to said vehicle and
being mounted on said chassis means and comprising at least two
independently controllable motor and track means;
cover means removably mounted on said chassis means and adapted to
support a plurality of payloads;
payload means adapted to be movable in at least one direction and
to have mounted thereon an operative load means, said payload means
being removably mounted on said cover means;
telecommunications means adapted to receive commands from said
operator control center and transmit telemetry to said operator
control center, said means being operatively connected to said
propulsion means and said payload means;
said payload means comprises pan motor means affixed to said cover
means, said motor means including gear means and being rotatably
operable;
turntable means adapted to be rotated by said pan motor means in a
substantially horizontal plane;
tilt motor means, said means including gear means and being
rotatably operable;
screw drive means mounted on said turn table means and being
adapted to be driven in a substantially vertical up and down
direction by operation of said tilt motor means;
mounting platform means; and
bell crank means connected to said screw drive means and said
mounting platform means and having a fulcrum means which is adapted
to tilt said platform means as said screw drive means is driven up
or down.
13. A remote control surveillance vehicle responsive to an operator
control center comprising:
chassis means, said chassis means being sized and shaped to fit
within standard doorways and stairways and to provide an optimally
low center of gravity for said vehicle;
propulsion means adapted to provide movement to said vehicle and
being mounted on said chassis means and comprising at least two
independently controllable motor and track means;
cover means removably mounted on said chassis means and adapted to
support a plurality of payloads;
payload means adapted to be movable in at least one direction and
to have mounted thereon an operative load means, said payload means
being removably mounted on said cover means;
telecommunications means adapted to receive commands from said
operator control center and transmit telemetry to said operator
control center, said means being operatively connected to said
propulsion means and said payload means;
said operative load means includes a smear sampler mechanism, said
mechanism comprising motor drive means for providing a rotational
drive;
collecting surface means for placement against a contaminated
surface; and
tape means adapted to contain uncontaminated sample means and
sample cover means for contamination, to pass said uncontaminated
sample means over said collecting surface means, to mate said
sample cover means with said contaminated sample means and to
collect said mated cover and contaminated sample means.
14. A smear sampler mechanism comprising:
sampler cassette means for containing rolled sample base and cover
tapes, said cassette means comprising a frame, a sample base tape
roller rotatably mounted within said frame and adapted to carry a
rolled base tape, a cover tape roller rotatably mounted within said
frame and adapted to carry a rolled cover tape, a pressure pad
means mounted external to said frame and being adapted to have said
base tape pass from within said frame, across the surface of said
pad means and back within said frame, a mating means adapted to
receive said base tape after passing across said pad and said cover
tape and to adhesively bond said cover tape to said base tape and
tape collecting means rotatably mounted within said frame for
rolling said bonded base and cover tapes; and
sampler holder means, having a motor means and drive means
connected to said motor means, said sampler holder means being
adapted to receive said sampler cassette means and said drive means
being adapted to rotatably contact said tape collecting means,
thereby causing said types to be drawn from their respective rolls
onto the tape collecting means.
Description
BACKGROUND OF THE INVENTION
The present invention relates to a surveillance system having a
remotely controlled vehicle for use in hazardous environments, such
as nuclear power facilities and toxic chemical manufacturing
operations, the vehicle being adapted to monitor a wide variety of
environmental conditions and to have optimum mobility throughout a
facility.
The environmental dangers related to nuclear power plants,
hazardous chemical production and storage facilities, hazardous
waste storage areas and industrial spills, are well known. Often,
the solution to environmentally hazardous problems requires both an
initial analysis and continued monitoring of the environment,
including the operational condition of machinery, valves, gauges
and the like, without the exposure of personnel to the related
environmental dangers. It also is desirable to have the capability
to take multiple samples from the wall, floor and equipment
surfaces of a contaminated facility. Subsequent corrective action
must be taken to solve the underlying problem. The use of a
remotely controlled robot to examine a damaged nuclear power plant
and to take corrective action to repair damage which may have been
caused to the plant facility is shown in the publication entitled
"Nuclear Power Plant Emergency Damage Control Robot", Gupton,
Robotic Age, pages 18-21 (March/April 1983). The proposed vehicle
has motors, lights, electronic equipment, a communications
capability, which also include video transmission capabilities, and
batteries for operation remote from a source of high power.
However, this and similar prior art systems teach the use of large,
heavy and complex mobile vehicles which normally are tethered to a
central control facility by a cable that provides both power and a
communications/control capability. These vehicles are very
expensive and their broad range of capabilities requires a
substantial structure weighing several tons and having significant
power requirements. Moreover, such vehicles often are limited to
predetermined paths and lack the mobility required in multilevel
facilities as well as the maneuverability required to move through
tight passages, under equipment and around barriers.
Notwithstanding their substantial cost, they have significant
limitations that prevent them from being cost effective. A more
manageable, remotely-controlled robot system in shown in the
publication, "Ferngelenktes Manipulator--Fahrzeug MF3", Kohler,
VDI-Z 120 No. 22 (November 1978). There, a tethered,
remotely-controlled robot is configured to have four independently
operating drive track mechanisms each of which supports one corner
of a rectangular payload platform. Each drive mechanism comprises a
continuous tread belt which is wrapped around a drive sprocket,
driving wheels and tensioner wheel. The payload platform is
equipped with one or two articulated manipulator arms that can be
adapted to perform a variety of complex end-effect functions,
including holding, lifting, welding and drilling. The payload
platform also contains lights and a pair of television cameras
which are adapted to provide a stereo-optic view capability to a
remote control station. At the control station, an operator may use
the stereo-optic viewer and a "joystick" control to operate the
device. The robot is sized to move through doorways and has a
stair-climbing capability which enables it to move about a
multilevel facility; however, the vehicle cannot negotiate
stairways with small landings. This and similar structures taught
in the prior art continue to be complex, weighing a substantial
amount and having a weight and length which restricts their
maneuverability. Moreover, the prior art teaches mobile vehicles
that are tethered by power and telecommunications cables, which
provide a further restriction on their maneuverability and the
danger of snagging, particularly when moving to another level in a
multilevel facility. Additionally, no prior art structure has the
capability of obtaining samples from various surfaces within a
facility on a repetitive basis, other than through the grabbing
capability of an articulated arm with clamping extremities.
Finally, all of the prior art devices are complex and, necessarily
expensive to manufacture and maintain.
In order to solve the problems confronted by the prior art, the
present invention teaches a surveillance system having a unique
remotely controlled vehicle. The vehicle is designed with a modular
structure, is adapted to perform the necessary surveillance
functions and is sized to provide optimum manueverability and
stability. A uniquely shaped chassis is sized to move easily
through standard doorways, standard stairways, and narrow passages
while having a length sufficient to provide both stability on
inclined surfaces and maneuverability in confined spaces, such as
landings. The vehicle is relatively lightweight and the chassis is
designed to accommodate most of the weight at the lowest possible
point in the body in order to provide an optimally low center of
gravity which is displaced slightly forward of the center of the
vehicle. The top deck of the vehicle is uniquely shaped and adapted
to support any of several payloads mounted at a point forward to
center of the vehicle. One such payload is an articulated arm
module which comprises a turret containing an articulated arm
capable of moving in pan and tilt and having a load affixed to its
end which may provide visual, sampling or other sensing
capabilities. The top cover, which is adapted to fit over the top
of the chassis, slopes down toward the front and sides of the
vehicle in order to permit a deployment of the payload in a manner
that will augment the vehicle's climbing capabilities by further
shifting the center of gravity to an optimum position. An
independently-operated, motor-driven track is located on each of
the two longitudinal sides of the vehicle; the tracks are adapted
to provide motion in a forward, reverse and rotational direction.
The tread is supported by wheels spaced along the bottom of the
chassis and is driven by a motor controlled sprocket. A tensioner
sprocket is used to provide the proper amount of flexibility to the
tread for optimum traction over various types of surfaces. The
tread itself is adapted to have maximum traction and is shaped to
avoid being wedged in standard industrial surfaces such as drain
grates and metal stairways.
The vehicle is adapted to have a plurality of payloads and payload
mounts which provide flexibility in a wide variety of industrial
applications. A standard payload includes a rotatable turret
mounted on the vehicle deck and having an articulated arm for
moving through a horizontal to a vertical direction. The arm is
adapted to contain various loads, including television cameras,
smear samplers and the like.
An object of the present invention is provision of a lightweight,
maneuverable and optimally sized remote control vehicle for sensing
the ambient conditions in hazardous environments.
A further object of the invention is to provide a remotely
controlled vehicle which is free of power, telecommunications,
command or control cabling.
Another object of the invention is the provision of remote control
vehicle having on a top cover, a rotatable turret with an
articulated arm and a useful payload at the end thereof and which
is also adapted to be moved below the horizontal plane at which the
turret joins the top cover, in order to provide a capability of
shifting the center of gravity.
A further object of the invention is the provision of a remotely
controlled vehicle having the capability of taking multiple smear
samples from the surfaces of a hazardous environment facility.
Yet another object is the provision of a remotely controlled
vehicle which is inexpensive to manufacture, easy to control and
requires a minimum of maintenance and adjustment.
Another object of the invention is to provide a remotely controlled
vehicle, having two parallel and independently driven track
mechanisms, each disposed along the longitudinal sides and attached
to run between the front and back of the vehicle, which is adapted
to climb conventional stairways.
SUMMARY OF THE INVENTION
The present invention comprises a remotely operated, battery
powered, tracked, tetherless vehicle that is adapted to carry
multiple payloads, including optics, sensors, smear samplers,
articulated or telescoping arms and related control electronics.
The invention has a unique size and shape which permits optimal
distribution of the center of gravity for climbing conventional
stair cases in industrial facilities. The payload packages carrried
by the vehicles are adapted to rotate about a vertical vehicle
axis. A further embodiment of the invention includes a payload
incorporating a novel yoke design which is used to provide pan and
tilt motion to all payloads (articulated arms, telescoping arms,
cameras, sensors, etc.).
BRIEF DESCRIPTION OF THE DRAWINGS
FIGS. 1A, 1B, and 1C show a preferred embodiment of the invention
having various payloads, including single inspection camera, smear
sampler and basic tilted yoke mechanism; FIG. 1D shows the payload
in FIG. 1C in a tilt position.
FIG. 2 shows a preferred embodiment of the system for remotely
controlling the vehicle.
FIG. 3 shows the silhouette of the vehicle chassis from a top view,
with the location of certain components illustrated therein.
FIG. 4 shows the vehicle chassis from a side view.
FIGS. 5A and 5C are block diagrams of the control station
electronic subsystem.
FIG. 5B is a block diagram of the remote control vehicle electronic
subsystem.
FIGS. 6A and 6B are illustrated of a preferred tread tensioner
design.
FIG. 7A is an illustration of a preferred tread design.
FIG. 7B is a cross section of the tread design of FIG. 7A.
FIG. 8A illustrates one embodiment of an articulated arm
payload.
FIG. 8B illustrates a motor driven load for the arm payload.
FIG. 8C illustrates a second embodiment of a rotational payload
having a tilt mechanism.
FIG. 9A shows the schematic of a smear sampler holder.
FIG. 9B shows the schematic of a smear sampler cassette.
FIG. 10 illustrates the tape track system for a smear sampler.
FIG. 11A illustrates the base tape design for the smear
sampler.
FIG. 11B illustrates the cover tape design for the smear
sampler.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring to FIG. 1A, a remote control vehicle 1 is shown having a
base chassis 2 and a top cover 3. Propulsion is provided by a
combination of motors, drive wheels, belt-type tracks and related
tensioner mechanisms. In particular, the chassis contains six road
wheels 10 per side which are mounted to the chassis 2 by stub
shafts that are threaded into the chassis. A drive wheel 12 is
located on each side panel of chassis 2 in the upper rear portion
of the side panel. An idler wheel 11 and tensioner mechanism 14 are
located at the front portion of each side panel of the chassis 2. A
continuous belt-like track 8, having a unique tread design, is
adapted to wrap around the drive wheel 12, the road wheels 10 and
the tensioner wheel 11 on each side of chassis 2. The chassis is
affixed with a top cover 3 on which are mounted one or more
television transmitting antennas 13, a command receive antenna 7
and a payload, which in FIG. 1A is a turret 4, having an
articulated arm 5 and camera 6 mounted at the end of the arm. As
shown in FIG. 1A, the cover is substantially horizontal with a
front apron portion, shown as 3a in FIG. 1B, falling from the
horizontal plane at an angle a, where a is approximately 25 degrees
in a preferred embodiment. The angle a may be chosen in a range of
20 to 35 degrees. A bumper guard 18 is made of rubber or other
shock absorbent material and is fixed around the top perimeter of
the chassis 2 and provides a shock absorbing capability should the
vehicle strike other objects.
Referring to FIG. 1B, a front view of the vehicle 1 is shown. The
chassis 2 has a front side 2a in which a window 9 is located for
viewing by a stereo-optic system, as will be described later. On
each of the longitudinal sides of the chassis 2b and 2c, identical
drive tracks 8a and 8b are shown. The top cover at each side of the
vehicle can be seen to have two sloping portions 3b and 3c, each of
which varies from the vertical by an angle b, where b is
approximately 57 degrees in a preferred embodiment. The angle b may
be chosen in a range of 40 to 55 degrees. FIG. 1B shows the
articulating arm 5 rotated by the turret 4 to one side of the
vehicle and illustrates a smear sample mechanism 15 attached to the
tip of the arm 5 through a rotatable joint 17 and arm extender
16.
FIG. 1C illustrates the basic vehicle 1 with a stereo-optic
zoom-lens camera payload 20a mounted on a panable and tiltable
platform 20b. An illustration of the structure in the forward tilt
position is shown in FIG. 1D. The details of this structure are
provided below with respect to the discussion of FIG. 8B. A variety
of environmental sensing devices (19a and 19b) such as temperature
sensor, relative humidity sensors, radiation sensors, chemical
sensors, and air quality monitors, may be mounted on the top cover
3 of the vehicle as shown and on the pan and tilt payload 20a.
Sensor output is provided to a conventional telemetry
communications systems located within the vehicle for transmission
by antenna 7. Antenna 7 is an omnidirectional antenna but may be a
rotating directional antenna, as is well known in the art.
FIG. 2 is an illustration of a remote control system for monitoring
the environment with the mobile sensing vehicle. A supervisory
control station 25, which is operator controlled through a keyboard
30, joysticks 31a, 31b and 31c as well as switch group 32, permits
the operator to drive the vehicle, position it and operate the
payload elements. Typically the control package can contain a
four-position joystick that moves the vehicle inspection optics
horizontally right and left (pan); moves the articulated arm
backward and forward; rotates the inspection optics housing up and
down. Vehicle movement is controlled by two-position proportional
joysticks that control vehicle motors. Push sticks forward, the
vehicle moves forward; pull sticks back, vehicle reverses; one
stick forward, one back, the vehicle spins on its axis right or
left. Vehicle speed depends on joystick displacement, forward or
back, in a conventional manner. Two 3-position (normally off)
switches provide surveillance camera control (inspection optics;
zoom-in and zoom-out; focus-in and focus-out). The keyboard
includes a two-position switch that provides main power shutoff.
Additional miscellaneous functions may be provided by other control
switches that may operate ancillary features of the remote vehicle
1 such as drive power on and off switches, smear sampler activation
switches, etc. Additional joysticks may be added to perform such
functions as: move a telescoping arm in and out; open and close a
manipulation on the end of either the telescoping arm or in place
of the smear sampler in a manner that is conventional and well
known in the prior art. The keyboard 30 combined with a
conventional microprocessor can provide similar or ancillary
control functions.
A 3-D display 29 comprises two television monitors and provides the
operator with a three-dimensional view of the scene in front of the
vehicle. Each monitor receives a TV signal from one of two TV
cameras mounted within the body of the vehicle and aligned to view
the scene through the transparent port 9, illustrated in FIG. 1B.
The two scenes are optically merged into a single 3-D view by the
3-D hood 33. The operator may also command the display of
television signals from a camera 6 mounted on the articulated arm 5
of the vehicle. The inspection camera 6 ca be pointed in any
direction to inspect equipment, floors, and walls. The scene from
this camera is displayed on monitor 27a. Environmental data,
continuously generated by transducers 19A, 19B, etc., is
transmitted by the vehicle communications system to the control
station. When received, the telemetry is procesed and displayed to
the operator on screen 27b. Environmental and vehicle status data
is transmitted on the video side bands, formatted by a programmable
minicomputer and displayed in a conventional manner as is well
known in the prior art. Commands from control elements 30-32 are
transmitted to the vehicle by antenna 26 over an RF link.
A telecommunications cable 34 is connected between the control
center 25 and an antenna array 21. The array includes two pairs of
antennae (22A and 22B), (23A and 23B) which are adapted to receive
each of two TV channels redundantly. The antenna assembly may be
implemented with a space diversity concept to minimize video signal
interference from multipath and other interference with the signal
that is broadcast from the vehicle. Two channels of video, with
data and audio on the sidebands are each received by a pair of the
four antennas seen in the Figure. The strongest signal for each
channel may be selected with switching circuitry.
Referring to FIG. 3, a top view of chassis 2 is shown to illustrate
the placement of certain components. Toward the rear of the chassis
2 and on each side thereof is mounted a drive wheel 311a and 311b
which are connected by drive shafts 310a and 310b to gear boxes
312a and 312b, respectively. Each gear box is connected to an
individually controlled motor 313a and 313b through drive belts
314a and 314b, respectively. As seen in FIG. 4, the drive wheel 311
and gearbox 312 are mounted at the top rear of the chassis while
the motors 313 are disposed at the lowest rear portion of the
chassis. The lower rear portion of the chassis is angled upwards in
order to provide the necessary clearances during stair climbing and
descending operations. The optimum angle c, as shown in FIG. 4,
would be in the range of 40 to 60 degrees; in other words the rear
bow portion is angled upward from the bottom portion at an angle of
120.degree.-140.degree. . The height h of the chassis is made as
small as possible and, given the load requirements for the vehicle,
would be in the range of 10 to 12 inches. The length of the lower
portion of the chassis, identified as 1, is optimally sized to span
three conventional stairs and is typically 31 to 33 inches. The
width of the vehicle, identified as w in FIG. 3 is typically 15.5
to 16.5 inches in order to provide maneuverability through doorways
and within passageways suitable for travel by personnel.
Substantially forward of the center of the vehicle and located
along the bottom of the chassis are batteries 315. These batteries
may be sealed, lead acid gel batteries which provide the required
power for operating the vehicle and its communications system. The
placement of the batteries at the lowest point in the chassis
provide a low center of gravity which is essential for stair
climbing stability. At the front of the vehicle, as illustrated in
FIG. 4, the chassis rises at an angle d which is typically in a
range of 40 to 60 degrees; in other words the front bow portion is
angled upward from the bottom portion at an angle of
120.degree.-140.degree. to provide optimum stair and obstacle
climbing capability. The stereo-optic viewing port 319 permits high
resolution, television camera 316a and 316b, having auto zoom
capability, to provide a three-dimensional view of the foreground
environment for the vehicle. The cameras may have audio pickup
microphones either built in or otherwise attached on opposite sides
of the vehicle in order to provide a bidirectional sound
localization capability. A center line, designated in FIGS. 3 and 4
as C--C may be used to locate the forward placement of the payload
package 317. Telecommunications, management and control electronics
are located in removable baskets 318a and 318 b. The distribution
of weight within and above chassis 2 provides a center of gravity
which is located in a point C-G, as illustrated in the FIGS. 3 and
4, which is optimally located forward of the center line and low in
the chassis 2 in order to provide stability during stair climbing
operations.
During stair climbing operations, the front of the vehicle,
identified in FIG. 1B as the side in which the stereo-optic viewing
port 9 is located, ordinarily is pointed up the stairs when the
vehicle is powered to drive up the incline. At this time, payload
6, which is carried on articulated arm 5 and is connected to turret
4, ordinarily would be extended along the front sloping portion of
cover 3 in order to further move the center of gravity as low and
forward as possible, thereby providing additional stability to the
vehicle. Optimally, for the vehicle sized as described herein, the
center of gravity would be approximately 4 inches forward of center
and 4 inches above the bottom of the chassis for stair ascent. By
the same token, operation of the vehicle in a traverse along an
incline slope can be made more stable by suspending the articulated
arm over the up-slope side of the cover 3. The sloping face of the
cover 3 when combined with the motion of the articulated arm and
turret combination provides an additional measure of stability that
reduces the need for other expensive stabilizing devices such as
stabilizing arms or multiple tracks, as shown in the prior art. The
turret and arm combination also provides stability to the vehicle
during stair descending operations and, in particular, during the
transition of the vehicle from a horizontal disposition to the
stair incline such that the vehicle is prevented from tumbling
forward over itself. In a maneuver to accomplish this result, the
articulated arm is moved dynamically from a forward to a rearward
position in order to provide stability as the vehicle transfers
from a horizontal to the inclined position.
FIG. 5A illustrates the supervisory control station electronic
subsystem which operates in a conventional manner but is
specifically described with respect to conventional block elements.
The command panel 501 is adapted to provide 15 or more different
commands through previously described conventional controls 31 and
32 and to supply them to encoder 502 which provides an information
stream in a conventional manner. Command control transmitter 503
modulates the encoded information onto a carrier which radiates
signals through antenna 504 to the receive antenna on the
vehicle.
FIG. 5B illustrates the typical arrangement within the vehicle for
controlling its operation. The encoded RF signal, is picked up by
antenna 550c, is forwarded to command/control receiver 553 and is
decoded in command control decoder 554 in a conventional manner.
Appropriate control signals are transmitted to motor controllers
555a and 555b. Control and command servos 557 are operated in
response to inputs from decoder 554 to provide proper power levels
to a variety of related devices such as camera focus motor 560,
camera zoom motor 551, articulated arm pan motor 562 and
articulated arm tilt motor 563. Telemetry antenna 550a is connected
to receive the input from microphone 1 and camera 559a, which are
connected to subcarrier oscillator 556a, which in turn is connected
to transmitter 552A and power amplifier 556a. In a similar fashion,
the output from cameras 559b and 559c are switchable by servo
control switch 558 to provide one or the other of cameras 559b or
559c to subcarrier oscillator 565b. The output of that oscillator
is provided to transmitter 552b, whose output is boosted by power
amplifier 551b and provided to antenna 550b. Telemetry is also
provided from transducers 564, 565, 566, 567 and 568 to A/D
converter 569. Additional data ports may be provided to the A/D
converter as shown. The output of the converter is supplied to
micro processor 570 whose output is supplied to modem 571 and then
to subcarrier oscillator 565B. Power supply 572 is used to power
the transmit and receive subsystem. All of the above functions are
conventional in the prior art.
At the control station illustrated in FIG. 5a, antennas 507 receive
the broadcast signals. After amplification by preamp 507, the
output is provided to antenna selector 508 which selects the
strongest of each pair of redundant signals. The strongest of the
first pair is provided to down converter 510, which in turn
supplies receiver 511a. The output of receiver 511a is provided to
an audio processor 512 and speaker 509. Another output from
receiver 511A is sent to a sync stripper 513 and video monitor 514
in a conventional manner. The other selected output channel is
provided to down converter 510b operating at a different frequency.
The output from the down converter 510B is provided to a second
receiver 511b. The output from that receiver is supplied to video
monitor 515 and sync stripper 516 which in turn supplies the output
to video monitor 517 in a conventional manner. The output of
receiver 511b also is provided to modem 518, which separates out
the audio signal (for broadcast through speaker 509) from the data
stream and provides the data stream to microprocessor 519 for
analysis and display on data monitor 520. Video monitors 514 and
517, when viewed through the 3-D hood 33 of FIG. 3, provide the
operator with a stereo-optic view from the remote control vehicle.
Video monitor 515 provides the input from the inspection optic
monitor 6 in FIG. 1A.
The maneuverability of the vehicle on a number of different
surfaces, including the capability to climb stairs and to travel
over obstacle and debris or other barriers is facilitated by the
vehicle propulsion subsystem which includes the chassis, batteries,
motors, gearboxes, drive wheels, road wheels, tracks, and track
tensioners. The subsystem is sized for the tracks to span three
stair risers on a conventional staircase having a 45.degree. angle.
Bow angle, stern angle and height of front top track idler are
selected to provide optimum stair and obstacle climbing capability.
A key to this capability is a low center of gravity, as previously
discussed. However, the design of the treads and tread tensioner
offers an additional capability for controlling the stability of
the device.
FIGS. 6A and 6B illustrate an embodiment of the tread tensioner
which is located external to the chassis and on its side, thereby
permitting ready access for adjustment by an operator to adapt to
various surfaces, and combines a tensioning mechanism with the
front idler wheel 611. This unique design adapts to the natural
stretch in the tread by incorporating a shock absorbing spring 620.
Wheel 611 comprises two half wheels 611a and 611b, having a common
shaft 612 and being supported by extendable arm 614, which is
atttached to one end of shaft 615 which slides within bushing 616.
Shaft 615 contains at the other end thereof a hollow portion 623
which contains the shock absorbing spring 620 and is prevented from
passing through bushing 616 by met 624. Shaft 618 is aligned with
its longitudinal axis coincident with the longitudinal axis of
shaft 615 and is adapted to fit within the hollow portions of shaft
615 and abut the spring within that portion, whereby the spring can
be compressed by pressure along the longitudinal axis. Shaft 615
acts through spring 620 against shaft 618, which is threaded to
screw in and out of threaded hole 621 to position idler wheel 611
against the tread, thereby providing proper tread tension. The
spring also 620 provides shock absorption. A lock nut 617 is
adapted to hold the threaded shaft 611 in place, thereby
maintaining a predetermined amount of pressure against the spring.
Locknut 617 is loosened to allow tread tensioning by turning shaft
618 at 622. A constant pressure is thereby transmitted from the
shaft to the wheel 611 and the spring is adapted to absorb any
shock which may be developed when the tread impacts against an
object. The entire mechanism is held by and attached to the vehicle
by tensioner body 619.
Referring to FIG. 7A, a longitudinal and lateral cross-section of
the tread is shown. The tread comprises a first belt 702 which is
approximately 1/4 inch thick and having raised ridges 703 of
approximately 1/4 height and spaced apart approximately 7/8 inches
and sized to match with drive wheel 12, as shown in FIG. 1A.
Another belt 704, which is bonded to belt 702 contains tread teeth
705 having a width, approximately 2 9/16 inches, being spaced apart
by approximately 13/4 inches and a shape which is adapted to grip
stair treads when climbing and to travel over most surfaces without
being wedged therein, particularly metal grate surfaces commonly
found in industrial facilities. The belts may be made of a flexible
plastic or rubber material which preferably is not porous in order
to minimize the effort for decontamination after a mission. FIG. 7B
shows a transverse cross-section of the tread.
Referring now to FIG. 8A, a preferred embodiment of a payload 801
for attachment to the horizontal deck 800 of the vehicle is shown.
A motor 802 is attached by bracket 816 to the deck. The motor
contains a gear 803 affixed to its drive shaft and is powered from
terminals 812. A rotatable platform 809 located above the top cover
817, is affixed to rotating mounting post 806 which rides upon
center post 818 affixed to deck 800, and has at a lower end a gear
805. Belt 804 is adapted to convert the rotation of gear 803 into
rotation of mounting post 806 and thereby provide a panning
capability in a 360.degree. arc about the vertical axis passing
through mounting post 806. Rotatable platform 809 also has mounted
to it motor 807 having a worm gear 808. A bracket 813 is affixed to
rotating platform 809 and is adapted to hold in a rotating fashion
gear 812, which is attached to arm 811 and has shaft 810 passing
centrally therethrough. Operation of motor 807 will turn worm gear
808 and, through its contact with gear 812, causing the arm 811 to
rotate through an arc of 180.degree.. The above top cover mechanism
is encapsulated by a protective cover 815. As shown in FIG. 8B, an
additional rotational capability is provided at the end of arm 811
with a load 820 having a motor 819, attached to arm 810 by bracket
821 and adaptable to be rotated by the motor shaft passing through
the arm. The inspection optics 820 are thus mounted and are rotated
in a .+-.180 degree arc by motor 819.
Additional loads which may be carried by the mechanism supported
articulated arm 11 include a telescoping arm assembly which permits
an extension of the arm to a distance of 15 feet. The telescoping
assembly may carry a solid particle smear sampler and/or optical
equipment or sensing equipment as has been taught by the preferred
embodiment of this invention.
FIG. 8C illustrates another embodiment of payload 851. This
embodiment also provides pan and tilt motion but with a more
compact configuration and with motors and mechanisms lower in the
vehicle than the embodiment shown in FIG. 8A. The majority of
mechanism 851 is below top cover 817 thus keeping the center of
gravity low. A pan motor 852 drives a gear 861 which interfaces
with internal ring gear 862 on turntable 855. Operation of the
motor will cause the turntable 855 and all above deck parts of the
mechanism to rotate with respect to the top surface 817. A tilt
motor 853 drives a spurgear 854, which drives a drive hub 864,
which drives screw drive mechanism 858 vertically up and down. The
screw drive mechanism is attached to a flat surface 857 by a belt
crank 859 that is connected to shaft 858. Operation of tilt motor
853 to move the shaft up or down will result in the mounting
surface 857 being tilted about fulcrum 860. Stops are built into
the shaft mechanism to limit the direction of travel. A cover 856
seals the drive mechanism and prevents contamination. All below
cover parts are connected to mounting structure 863.
A unique feature of this invention is its ability to automatically
collect samples from the surface of the walls, floor or machinery
within a contaminated environment. A unique smear sampler apparatus
which is attached to the payload portion of the articulated arm,
either directly by a mating connection 902 or through an extended
arm segment 16, as shown in FIG. 1B, is contemplated. FIG. 9A
illustrates a smear sampler drive mechanism which contains an
adapter 902 for attaching the smear sampler to a payload
articulated arm or its extension. The sampler holder 915 is
connected to the arm interface by shaft 905 which is spring loaded
against, and rides inside and follows cam slot 904a, thus forcing
shaft 905 to rotate when pressure is applied along the longitudinal
axis of shaft 905. When shaft 905 rotates so does the entire smear
sampler holder and cassette assembly. This causes the smear sample
patch 958 which is held against a cushioned collecting surface 956
and two roller guides 955a and 955b as seen in FIG. 9B, to rotate
against the surface from which a sample is being taken. When
pressure against shaft 905 is removed the shaft is spring driven to
rotate back to its original position in a conventional manner. The
holder 915 contains a motor 907 which drives the shaft 908 and worm
gear 909 which drives gear 906. Gear 906 is connected to crown gear
910 which meshes with and directly drives crown gear 964 on the
cassette as shown in FIG. 9B. Crown gear 964 is directly connected
to sample takeup roller 952. The motor is driven by a battery 911
that is connected in a circuit with the motor by parallel,
normally-open switches 912 and 913. Switch 912 is closed by remote
command of the operator through a conventional solenoid or other
mechanism. Once the motor begins to turn, switch 913 is closed by
the movement of the tape across roller switch lever 954, that is
mechanically connected to switch 913. In FIG. 9B, the base tape 957
is loaded into the cassette 951 on roller 953. Base tape 957, which
contains sample patches 958, preferably at four inch intervals, is
threaded over idler roller 955b, around sample patch backing pad
956, then back into the cassette over idler roller 955, between
rollers 960 and idler 961, and onto sample base tape as it is
threaded onto sample takeup roller 952. Referring to FIGS. 9A and
9B when motor 907 is actuated, the base tape 957 is collected by
being rolled onto roller 952 and sample cover tape 954 is
automatically applied to cover each sample pad 958 after a sample
has been acquired. This assembly of base tape, sample patches and
cover tape 962 is rolled onto sample takeup roller 952 and stored.
The paper tape 963 which protects the adhesive side of cover tape
959 until it is ready for use is also automatically rolled onto
sample takeup roller 952. FIG. 10 is a further illustration of FIG.
9B and shown in three dimensional perspective the action of the
various rolls during the smear sampler operation. As can be seen in
FIG. 10, the sample patch 958 is automatically positiond in
sample-taking position by a spring loaded indexing roller lever 954
which drops into a slot 966 cut in the base tape. The roller level
954 is mechanically connected to normally open switch 913 in the
holder 915 and the action of the spring loaded roller in dropping
into slot 966 will cause switch 913 to open, thereby disconnecting
power from motor 907. Motor 907 can be started again by the
operator commanding switch 912 to close, which thereby moves the
tape and causes the roller lever to rise out of slot 966 and close
switch 913 which continues to operate until the next slot 966 is
reached, at the proper position of the next sample pad 958. Again
operation is automatically stopped by the indexing roller switch
954 when it drops into the slot in the base tape. As may be clear
to one of ordinary skill in the art, the smear sampler may be
adopted for a hand held operation by substituting a handle at
interface 902 and placing in the handle, the battery 911 and switch
912, for manual operation by the operator. The sampler system will
acquire up to 24 samples and protect them from cross
contamination.
FIG. 11A shows an illustration of a base tape 957 which typically
is a mylar, polyester or paper tape, approximately 45 inches long
and two and three-quarters inches wide. Affixed to the tape 957 is
a number of cloth or paper samplers 958 spaced equally one from the
other and centered between the sides of the tape. Each patch 958 is
numbered in sequence 967. The base tape 957 contains an index hole
966 which is located in a position which causes roller switch 954
to drop, thereby cutting power to the drive motor, as explained
above.
The cover tape 959, shown in FIG. 11B, is a mylar, polyester or
similar material approximately the same length as the base tape 957
and is selectively printed with adhesive that will, when the tape
is applied to the base tape 957, bond the two tapes together in
areas other than the base tape sampler 958 and thereby isolate the
paper or cloth samples from each other. The non-adhesive position
of cover tape 959 is shown as 968 and is sized and oriented to
cover and seal patches 958 on the base tape. In the case of each
tape, it should be the thinnest, most flexible material possible so
that the laminate of base tape and cover tape will roll as tightly
as possible. The backside of the cover tape may be treated with
silicon or other material so that when the tape is rolled, adhesive
side in, the adhesive will not stick to the back of the tape. The
base tape may have numbers printed on it for identification of the
samples in the laboratory.
It should be understood, of course, that the foregoing disclosure
relates only to a preferred embodiment of the invention and that it
is intended to cover all changes and modifications which do not
constitute departure from the spirit and scope of the
invention.
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